Fill a large pot halfway with water and add 1/2 tablespoon of salt.
Place over high heat and bring to a boil.
Add the pasta and cook until al dente, about 4 to 5 minutes, then drain it in a colander and rinse with hot water.
Place a large skillet over medium heat and add olive oil and garlic, sauté for about 1 minute.
Add pasta and 1/2 cup of Parmigiano-Reggiano cheese and toss well.
Add 1 cup of milk, stir and raise the heat to medium-high for about 2 minutes.
Reduce the heat to low and add 1 cup of yogurt and mix well.
Turn off the heat and sprinkle the remaining 1/4 cup of cheese, fresh ground pepper and cover the skillet.
Allow the pasta to absorb all the liquids for about 12 to 15 minutes and serve.